CN116222380A - Camera measurement field establishment method and target - Google Patents
Camera measurement field establishment method and target Download PDFInfo
- Publication number
- CN116222380A CN116222380A CN202310007856.0A CN202310007856A CN116222380A CN 116222380 A CN116222380 A CN 116222380A CN 202310007856 A CN202310007856 A CN 202310007856A CN 116222380 A CN116222380 A CN 116222380A
- Authority
- CN
- China
- Prior art keywords
- camera
- target
- measured
- measured point
- dimensional coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Studio Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a camera measuring field establishment method and a target, which are used for determining theoretical coordinates of a measured point according to a digital-analog of a measured object; according to the actual working distance, the size of the target mark is adjusted; mounting a target base on a measured point of a measured object; according to the quality of the marked image in the field of view of the camera, manually adjusting the angle of the target mark so that the target mark plane is parallel to the camera view plane; photographing to calculate the three-dimensional coordinates of the marked center point under the camera coordinate system, and calculating the three-dimensional coordinates of the measured point under the camera coordinate system according to the size information of the base and the target and the conversion relation formula of the marked center of the target and the measured point; repeating the steps, and recording the three-dimensional coordinates of the measured point and the known coordinates of the measured point under the camera coordinate system; according to the recorded measured point coordinates, calculating the relation between the measured point coordinates of the camera coordinate system and the known measured point coordinates by adopting a best fitting algorithm, and further establishing a measuring field of the camera; thereby realizing the rapid establishment of the camera measurement field.
Description
Technical Field
The invention belongs to the technical field of vision measurement, and particularly relates to a camera measurement field establishment method and a target.
Background
The camera measurement technology has the characteristics of high speed, high precision and the like, and is widely applied to the applications of pose measurement and butt joint of large-size aircraft parts in aviation manufacturing, visual guidance of an industrial robot, projection of augmented reality auxiliary assembly information and the like, but a camera measurement field needs complicated steps to determine the relative position of a measured object in the measurement field, so that the application of the camera measurement technology in the aviation manufacturing field is limited.
The camera measurement system is generally established by sticking coding mark points, reflecting mark points, arUco marks and the like on a measured object, and the pose information of the measured object relative to a camera coordinate system is calculated by measuring the position relation between the three-dimensional coordinates of actual marks and theoretical mark points. For marks without size information, such as reflective mark points, the number of cameras is generally increased or the number of cameras is matched with structured light equipment to be used, so that a vision measurement system is complex; for a mark with size information such as an ArUco mark, a monocular camera can be directly utilized to solve the three-dimensional coordinates of the mark center, so that the complicated measuring field construction steps are simplified. However, the detection accuracy is greatly affected by the angle between the mark and the camera view plane, and no special fixing and clamping tool is provided, so that the application of the mark in a vision measurement system is greatly limited.
Although the current marks with size information can well simplify complicated measuring field construction steps and reduce the complexity of a system, the placement mode of the marks greatly affects the visual detection precision, and in practical application, the mark plane is difficult to be parallel to the camera plane, so that the detection precision is unstable; and the mark is not provided with a special fixed clamping tool, so that the position relation between the mark and the theoretical measured point is difficult to establish.
Disclosure of Invention
The invention mainly aims at the problems and provides a method and a target for establishing a camera measuring field, so as to solve the problem that the traditional measuring field is complicated in establishing steps when a camera is used for measurement, and solve the problems of low traditional measuring precision and low speed.
In order to achieve the above object, the present invention provides a target for camera measurement field establishment, the target comprising:
the base comprises a target ball socket and a positioning pin, wherein the positioning pin is used for being inserted into a positioning hole of a tested object tool or a tested object;
the target body comprises a positioning ball and a marking plate, wherein the positioning ball is rotatably arranged in the target ball socket, the marking plate is provided with a marking plane, and the center normal line of the marking plane passes through the sphere center of the positioning ball.
Further, the marking plate comprises a substrate at the lower end and an aluminum oxide film arranged on the substrate, wherein a marking pattern is drawn on the aluminum oxide film.
Further, the target ball socket is connected with the positioning ball through magnetic attraction.
To achieve the above object, the present invention provides a camera measurement field establishment method using the above target, comprising the steps of:
mounting the target with known size parameters and marking parameters on a measured point of a measured object, and enabling the marking plane of the target to be parallel to a camera view plane;
constructing a conversion relation between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object according to the known size parameters and mark parameters of the target;
photographing and calculating the three-dimensional coordinates of the target mark center point under a camera coordinate system, and calculating the three-dimensional coordinates of the measured point under the camera coordinate system according to the conversion relation between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object;
repeating the steps, and recording three-dimensional coordinates of at least 6 groups of measured points under the camera coordinate system, wherein each group is required to record the known coordinates of the measured points and the three-dimensional coordinates of the measured points under the camera coordinate system at the same time;
and according to the recorded known coordinates of the measured point and the three-dimensional coordinates of the measured point under the camera coordinate system, calculating the relation between the three-dimensional coordinates of the measured point under the camera coordinate system and the known coordinates of the measured point by adopting a best fitting algorithm, and establishing a camera measuring field.
Further, a conversion relation between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object is constructed as follows:
t is in x 、t y 、t z Representation targetPositioning correction parameters; t is t d A substrate thickness representing the target; t is t r A sphere radius representing the target; x is X m ，Y m ，Z m Marking a three-dimensional coordinate of a central point for the target; r, T is an external reference of a camera detection mark; x is X c ，Y c ，Z c Is the three-dimensional coordinates of the measured point.
Further, the step of making the marking plane of the target parallel to the camera view plane comprises: and manually adjusting the angle of the target according to the quality of the marked image in the camera view, so that the target marking plane is parallel to the camera view plane.
Further, in the process of quickly establishing the camera measurement field, targets with different sizes can be replaced according to the sizes of the targets marked in the measurement field in the camera field of view.
Further, when a single camera is used for measurement, the single camera covers all marked areas of the targets, the single camera is controlled to take a picture to obtain a current image, three-dimensional coordinates of the measured point in the camera coordinate system are calculated, and pose information of the measured object in the single camera coordinate system is determined through fitting calculation with known coordinates of the measured point.
Further, when using multi-camera measurement, the multi-camera is enabled to cover all the marking areas of the targets, the target angle is adjusted, the target marking plane is parallel to one camera vision plane, the camera is controlled to shoot to obtain a current image, and the three-dimensional coordinate of the measured point at the fixed position of the target under the camera coordinate system is calculated; and adjusting the target angle again to enable the target marking plane to be parallel to the view plane of the other camera, controlling the camera to shoot to obtain a current image, calculating the three-dimensional coordinate of the measured point at the fixed position of the target under the camera coordinate system, determining the space conversion relation between the cameras according to the three-dimensional coordinate relation of the measured point under the multi-camera coordinate system, and establishing a camera measuring field.
Further, the known coordinates of the measured point are obtained according to the digital-analog determination of the measured object or are obtained through measurement of a laser tracker.
The technical scheme of the invention has the following advantages: the target is used as a special fixing and clamping tool for the mark, so that the mark can rotate within a certain angle, and the position relationship between the mark center point and the theoretical measured point is conveniently established, thereby realizing the rapid establishment of a camera measuring field.
Drawings
Fig. 1 is a schematic diagram showing an exploded structure of a target for camera measurement field establishment according to the present invention.
Fig. 2 is a schematic diagram of a combined structure of a target for camera measurement field establishment according to the present invention.
FIG. 3 is a schematic diagram of a transformation relationship between a target mark center point and a measured point according to the present invention.
Fig. 4 is a schematic diagram of a single-camera/multi-camera measurement field setup method for a target according to the present disclosure.
In the figure: 1. a workpiece; 2. a target; 3 and 4, cameras; 5. a tripod; 6. a control computer; 20. a base; 20-1, target ball socket; 20-2, locating pins; 21. a target body; 21-1, a positioning ball; 21-2, marking plate.
Detailed Description
The method and target for establishing a camera measurement field according to the present invention are described in further detail below with reference to fig. 1 to 4 and the specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The invention mainly aims to provide a camera measuring field establishment method and a target, wherein the relative position of a measured object in a measuring field can be rapidly determined by adjusting the position of the target, so that the target and the method can be widely applied to the applications of pose measurement and butt joint of large-size aircraft parts in aviation manufacture, visual guidance of industrial robots, projection of augmented reality auxiliary assembly information and the like.
In order to achieve the above purpose, the invention provides a target for establishing a camera measurement field, which is used as a special fixing and clamping tool for the mark, so that the mark can rotate within a certain angle, and the position relationship between the mark and a theoretical measured point can be conveniently established, thereby realizing the rapid establishment of the camera measurement field.
Specifically, please refer to fig. 1 and fig. 2, which schematically illustrate a target for establishing a camera measurement field provided by an embodiment of the present invention, as shown in fig. 1, the target 2 includes a base 20 and a target body 21, wherein the upper portion of the base 20 is a target ball socket 20-1, the shape of the target ball socket 20-1 is designed according to the size of the target body 21, and can be tightly connected with a local spherical surface at the lower portion of the target body 21, and meanwhile, the target ball socket 20-1 has magnetism and can directly adsorb the target body 21. The lower part of the base 20 is provided with a locating pin 20-2 which can be inserted into a locating hole on a tested object tool or a tested object.
The upper part of the target body 21 is a marking plate 21-2 which consists of a base plate at the bottom and an alumina film arranged on the base plate, and a marking pattern is drawn on the alumina film; the lower part of the target body 21 is a positioning ball 21-1 which is precisely processed into a sphere with a smooth surface, can rotate in the target ball socket 20-1 of the base 20 at random and can be fixed at a certain angle under the action of magnetic attraction, and the marking plate 21-2 is provided with a marking plane, and the center normal line of the marking plane passes through the sphere center of the positioning ball, so that the relation between the marking center point on the marking plane of the target 2 and the measured point on the measured object is constructed.
In some implementations, the markers on target 2 may be existing augmented reality markers such as ArUco, or may be custom markers of known shape; three-dimensional coordinate measurement of the target mark center point can be realized by a monocular camera.
In the preparation of the label on the target 2 in this example, there is no particular limitation on the manner in which the labeling is achieved by enhancing the present product with ArUco et al or the labeling is performed with a custom known shape.
When the size parameter and the marking parameter of the target 2 are known, the conversion relation between the three-dimensional coordinate of the target marking center point and the three-dimensional coordinate of the measured point on the measured object tool or the measured object can be established. All parts of the target adopt a precise machining mode, and the target is required to be calibrated before actual use so as to correct the three-dimensional coordinate calculation parameters of the target.
In this embodiment, the combination of the target parts for rapid establishment of the camera measurement field is shown in fig. 3. In the actual use process, the target body 21 is adsorbed in the base 20 of the target, so that the target combination can be completed quickly, and then the target angle is adjusted, so that the target marking plane is parallel to the camera viewing plane as much as possible, and the marking detection precision is improved.
Corresponding to the target 2, the invention also provides a camera measurement field establishment method, which uses the target 2 with the structure to determine the relative position of the measured object in the measurement field. Referring to fig. 4, a schematic diagram of a method for establishing a camera measurement field according to an embodiment of the present invention is shown in fig. 4, where the method for establishing a camera measurement field includes the following steps:
step S100: mounting the target with known size parameters and marking parameters on a measured point of a measured object, and enabling the marking plane of the target to be parallel to a camera view plane;
the target marking device comprises a target marking plane, a target positioning device and a camera, wherein various parameters of the target can be obtained through an auxiliary tool or before target processing, the target is inserted into a measured object tool or a positioning hole on a measured object before use, the size of the target marking is adjusted according to the actual working distance so as to meet the visual positioning requirement, and the angle of the target marking is manually adjusted according to the quality of a marking image in a camera view, so that the target marking plane is parallel to the camera view plane as much as possible.
Step S200: constructing a conversion relation between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object according to the known size parameters and mark parameters of the target;
and establishing a conversion relation between the three-dimensional coordinates of the target marking center point and the three-dimensional coordinates of the measured point on the measured object tool or the measured object according to the known target size parameters and marking parameters. The conversion relation is shown in FIG. 3, wherein O m Is a target mark coordinate system, O m Origin coordinates (X) m ，Y m ，Z m )，O c Is the coordinate system of the measured point, O c Coordinates P of measured point c (X c ，Y c ，Z c ) The two have the following relationship:
t is in x 、t y 、t z Correction parameters representing target positioning; t is t d A substrate thickness representing the target; t is t r A sphere radius representing the target; x is X m ，Y m ，Z m Is the targetMarking a three-dimensional coordinate of a central point; r, T is the external reference of the camera detection mark, X c ，Y c ，Z c Is the three-dimensional coordinates of the measured point.
Step S300: and shooting and calculating the three-dimensional coordinates of the target mark center point under a camera coordinate system, and calculating the three-dimensional coordinates of the measured point under the camera coordinate system according to the conversion relation between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object.
Step S400: repeating the steps, and recording three-dimensional coordinates of at least 6 groups of measured points under the camera coordinate system, wherein each group is required to record the known coordinates of the measured points and the three-dimensional coordinates of the measured points under the camera coordinate system at the same time;
step S500: according to the recorded known coordinates of the measured point and the three-dimensional coordinates of the measured point under the camera coordinate system, calculating the relation between the three-dimensional coordinates of the measured point under the camera coordinate system and the known coordinates of the measured point by adopting a best fitting algorithm, and establishing a camera measuring field
In step S400, the number distribution of targets 2 should envelop the entire area of the object to be measured as much as possible; as shown in fig. 4, the camera 3 is placed on a stable tripod 5, the field of view of the camera 3 can cover all positioning marks, and the angle of the target 2 is adjusted so that the mark plane of the target 2 is as parallel as possible to the viewing plane of the camera 3.
In step S300-step S500, the camera 3 is connected to the control computer 6 via USB3.0 or GigE. The camera 3 acquires a target mark image fixed on the measured object, calculates the three-dimensional coordinate of the measured point under the camera coordinate system by using an image processing algorithm, establishes a conversion relation between the actual three-dimensional coordinate of the measured point and the known three-dimensional coordinate of the measured point by using a best fitting algorithm, and completes the establishment of a camera measuring field. The theoretical coordinates of the measured point can be determined according to the digital-analog of the measured object or the accurate coordinates of the measured point can be measured by a laser tracker to be used as the basis of the follow-up best fit registration.
Preferably, in the rapid establishment process of the camera measurement field, targets with different sizes can be replaced according to the sizes of the target marks in the measurement field in the field of view of the industrial camera.
In the embodiment of the invention, the camera can be used for measuring by adopting a single-phase camera or a multi-phase camera. When the single camera is used, the single camera acquires a target image of the measured object tool or the measured object, and can determine three-dimensional coordinate information of the measured object in a camera measuring field; when the multi-camera is used, the cameras can acquire target images on the tested object tool or the tested object at the same time, so that the spatial relationship among the cameras can be formed, and a multi-camera measuring field is established.
The measurement with a single camera will be described in detail with reference to specific examples.
When a single camera measurement is used, the target 2 is placed in the positioning hole of the workpiece 1, and as shown in fig. 4, the field of view of the camera 3 can cover all the positioning mark areas. The target 2 angle is adjusted so that the target 2 marking plane is as parallel as possible to the camera viewing plane. The computer 6 controls the camera 3 to shoot to obtain a current image, the three-dimensional coordinates of the measured point of the target 2 at a fixed position are calculated, and pose information of the workpiece 1 in a coordinate system of the camera 3 is determined through fitting calculation with the known three-dimensional coordinates of the measured point of the workpiece 1.
When multi-camera measurements are used, the target 2 is placed in the positioning hole of the workpiece 1, and as shown in fig. 4, the cameras 3 and 4 can cover all the positioning mark areas. Adjusting the target angle to enable the marking plane of the target 2 to be parallel to the view plane of the camera 3 as much as possible, and calculating the three-dimensional coordinate of the measured point of the target at the fixed position under the coordinate system of the camera 3; and adjusting the angle of the target positioning ball again to enable the target marking plane to be parallel to the view plane of the camera 4 as much as possible, and calculating the three-dimensional coordinates of the measured point of the target at the fixed position under the coordinate system of the camera 4. According to the relation of the three-dimensional coordinates of the measured point under the coordinate system of the camera 3 and the camera 4, the space conversion relation between the camera 3 and the camera 4 is determined, and then a multi-camera measuring field is established.
Therefore, the invention can quickly construct a single camera/multi-camera visual measurement field by using more than 6 targets, simplifies the traditional measurement field establishment step and has better precision; in terms of hardware, the camera measurement field does not need additional auxiliary measurement equipment, and is built only through the position relation between the three-dimensional coordinates and the theoretical coordinates of the target, so that the structure is simpler. In actual use, the three-dimensional coordinate measurement value of the measured point is optimized by adjusting the angle between the positioning target mark and the camera view plane, so that the use is more convenient. The relation between the camera and the measured object only depends on the best fitting result between the actual measured point coordinates and the known measured point coordinates, the data size is small, and the solving speed is higher. Therefore, the method can be widely applied to application scenes such as pose measurement and butt joint of large-size airplane components in aviation manufacturing, visual guidance of industrial robots, projection of augmented reality auxiliary assembly information and the like.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (10)
1. A target for camera measurement field establishment, the target comprising:
the base comprises a target ball socket and a positioning pin, wherein the positioning pin is used for being inserted into a positioning hole of a tested object tool or a tested object;
the target body comprises a positioning ball and a marking plate, wherein the positioning ball is rotatably arranged in the target ball socket, the marking plate is provided with a marking plane, and the center normal line of the marking plane passes through the sphere center of the positioning ball.
2. The camera measurement field creation target according to claim 1, wherein the marker plate includes a substrate at a lower end and an aluminum oxide film provided on the substrate, wherein a marker pattern is drawn on the aluminum oxide film.
3. A camera measurement field creation target according to claim 1, wherein the target ball socket is magnetically connected to the positioning ball.
4. A camera measurement field establishment method using the target according to any one of claims 1-3, comprising the steps of:
mounting the target with known size parameters and marking parameters on a measured point of a measured object, and enabling the marking plane of the target to be parallel to a camera view plane;
constructing a conversion relation between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object according to the known size parameters and mark parameters of the target;
photographing and calculating the three-dimensional coordinates of the target mark center point under a camera coordinate system, and calculating the three-dimensional coordinates of the measured point under the camera coordinate system according to the conversion relation between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object;
repeating the steps, and recording three-dimensional coordinates of at least 6 groups of measured points under the camera coordinate system, wherein each group is required to record the known coordinates of the measured points and the three-dimensional coordinates of the measured points under the camera coordinate system at the same time;
and according to the recorded known coordinates of the measured point and the three-dimensional coordinates of the measured point under the camera coordinate system, calculating the relation between the three-dimensional coordinates of the measured point under the camera coordinate system and the known coordinates of the measured point by adopting a best fitting algorithm, and establishing a camera measuring field.
5. The method for establishing a camera measurement field according to claim 4, wherein the conversion relationship between the three-dimensional coordinates of the target mark center point and the three-dimensional coordinates of the measured point on the measured object is constructed by:
t is in x 、t y 、t z Correction parameters representing target positioning; t is t d A substrate thickness representing the target; t is t r A sphere radius representing the target; x is X m ，Y m ，Z m Marking a three-dimensional coordinate of a central point for the target; r, T is an external reference of a camera detection mark; x is X c ，Y c ，Z c Is the three-dimensional coordinates of the measured point.
6. A method of camera measurement field creation according to claim 4 wherein the step of making the marker plane of the target parallel to the camera view plane comprises: and manually adjusting the angle of the target according to the quality of the marked image in the camera view, so that the target marking plane is parallel to the camera view plane.
7. A method of camera measurement field creation according to claim 4, wherein targets of different sizes are replaced during the fast camera measurement field creation process, depending on the size of the targets in the measurement field mark in the camera field of view.
8. The method for setting up a camera measurement field according to claim 4, wherein when a single camera is used for measurement, the single camera is controlled to take a picture to obtain a current image, three-dimensional coordinates of the measured point in the camera coordinate system are calculated, and pose information of the measured object in the single camera coordinate system is determined by fitting calculation with known coordinates of the measured point.
9. The method for establishing a camera measurement field according to claim 4, wherein when using a multi-camera measurement, the multi-camera is made to cover all the marking areas of the targets, the target angle is adjusted so that the target marking plane is parallel to one of the camera viewing planes, the camera is controlled to take a photograph to obtain a current image, and the three-dimensional coordinates of the measured point at the fixed position of the target under the camera coordinate system are calculated; and adjusting the target angle again to enable the target marking plane to be parallel to the view plane of the other camera, controlling the camera to shoot to obtain a current image, calculating the three-dimensional coordinate of the measured point at the fixed position of the target under the camera coordinate system, determining the space conversion relation between the cameras according to the three-dimensional coordinate relation of the measured point under the multi-camera coordinate system, and establishing a camera measuring field.
10. A camera measurement field establishment method according to claim 4, wherein the known coordinates of the measured point are determined from the digital-analog of the measured object or are measured by a laser tracker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310007856.0A CN116222380A (en) | 2023-01-04 | 2023-01-04 | Camera measurement field establishment method and target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310007856.0A CN116222380A (en) | 2023-01-04 | 2023-01-04 | Camera measurement field establishment method and target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116222380A true CN116222380A (en) | 2023-06-06 |
Family
ID=86579707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310007856.0A Pending CN116222380A (en) | 2023-01-04 | 2023-01-04 | Camera measurement field establishment method and target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116222380A (en) |
-
2023
- 2023-01-04 CN CN202310007856.0A patent/CN116222380A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106871787B (en) | Large space line scanning imagery method for three-dimensional measurement | |
| CN110666798B (en) | Robot vision calibration method based on perspective transformation model | |
| Zhang et al. | A robust and rapid camera calibration method by one captured image | |
| US20170054954A1 (en) | System and method for visually displaying information on real objects | |
| US20140160115A1 (en) | System And Method For Visually Displaying Information On Real Objects | |
| CN106990776B (en) | Robot homing positioning method and system | |
| CN104197960B (en) | A kind of overall calibration method of laser tracker visual guidance video camera | |
| CN110966935B (en) | Deflection measurement system integrated geometric calibration method based on mark points | |
| CN109978960B (en) | High-precision screen-camera pose calibration method based on photogrammetry | |
| WO2010034014A2 (en) | Method involving a pointing instrument and a target object | |
| CN111964694A (en) | Laser range finder calibration method for three-dimensional measurement | |
| CN109341537A (en) | Dimension measurement method and device based on binocular vision | |
| CN114266836A (en) | Active vision three-dimensional calibration method, system and equipment based on galvanometer camera | |
| EP1174681A2 (en) | Method and apparatus for the determination of the contour of sheet metal blanks | |
| CN110017852A (en) | A kind of navigation positioning error measurement method | |
| CN109813509A (en) | The method that high-speed rail bridge vertically moves degree of disturbing measurement is realized based on unmanned plane | |
| CN116051659A (en) | Linear array camera and 2D laser scanner combined calibration method | |
| CN113781579B (en) | Geometric calibration method for panoramic infrared camera | |
| CN114926538A (en) | External parameter calibration method and device for monocular laser speckle projection system | |
| CN111220118B (en) | Laser range finder based on visual inertial navigation system and range finding method | |
| CN113781558A (en) | Robot vision locating method with decoupled posture and position | |
| CN110139094A (en) | A kind of optical center alignment schemes, optical center Coordinate calculation method and device | |
| CN111754584A (en) | Remote large-field-of-view camera parameter calibration system and method | |
| CN116222380A (en) | Camera measurement field establishment method and target | |
| CN113175870B (en) | Global calibration target and calibration method for global calibration of multi-view vision sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |